Closed tfoote closed 8 years ago
I validated this today and fixed up a few indexing errors. It decreases the cpu load from 4 saturated cores to 1 saturated core.
@tfoote Out of curiosity, what's the background of this PR? Is there any other reason than fewer dependency the better as a general rule of thumb?
Fewer dependencies make releasing easier and less footprint. Lower computational overhead allows cheaper processors and longer battery life.
This particular application is easily suited to iterating over the 2d image. The 3d point clouds just seem like massive overkill in retrospect. So +1 from me especially as it is probably the most popular reference application for turtles (no preparation needed like navigation requires).
This has the added benefit of not requiring PCL as a dependency.
Available for review but I'll test this in the office tomorrow before merging.